Package Summary

Tags No category tags.
Version 0.10.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/geometry2.git
VCS Type git
VCS Version ros2
Last Updated 2018-12-07
Dev Status MAINTAINED
Released RELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package tf2

0.10.1 (2018-12-06)

0.10.0 (2018-11-22)

  • Merge pull request #65 from bsinno/bugfix/fix_identity_transform_behaviour Fix bug in lookupTransform()
  • Fix lookupTransform() behaviour when transforming from a frame to itself
  • revert now unnecessary message initializations (#64)
  • use console_bridge_vendor (#63)
  • Contributors: Alessandro Bottero, Mikael Arguedas, Tully Foote

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

  • fixes #194 check for quaternion normalization before inserting into storage (#196)

    • check for quaternion normalization before inserting into storage

    * Add test to check for transform failure on invalid quaternion input

  • updating getAngleShortestPath() (#187)

  • Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175

  • Link properly to convert.h

  • Landing page for tf2 describing the conversion interface

  • Fix comment on BufferCore::MAX_GRAPH_DEPTH.

  • Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

  • add utilities to get yaw, pitch, roll and identity transform
  • provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
  • Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

  • move lct_cache into function local memoryfor #92
  • Clean up range checking. Re: #92
  • Fixed chainToVector
  • release lock before possibly invoking user callbacks. Fixes #91
  • Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

  • fixing edge case where two no frame id lookups matched in getLatestCommonTime
  • Contributors: Tully Foote

0.5.8 (2015-03-17)

  • change from default argument to overload to avoid linking issue #84
  • remove useless Makefile files
  • Remove unused assignments in max/min functions
  • change _allFramesAsDot() -> _allFramesAsDot(double current_time)
  • Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

0.5.4 (2014-05-07)

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

No launch files found

Messages

No message files found.

Services

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Plugins

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Recent questions tagged tf2 at answers.ros.org

Package Summary

Tags No category tags.
Version 0.9.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/geometry2.git
VCS Type git
VCS Version bouncy
Last Updated 2018-12-06
Dev Status MAINTAINED
Released RELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package tf2

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

  • fixes #194 check for quaternion normalization before inserting into storage (#196)

    • check for quaternion normalization before inserting into storage

    * Add test to check for transform failure on invalid quaternion input

  • updating getAngleShortestPath() (#187)

  • Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175

  • Link properly to convert.h

  • Landing page for tf2 describing the conversion interface

  • Fix comment on BufferCore::MAX_GRAPH_DEPTH.

  • Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

  • add utilities to get yaw, pitch, roll and identity transform
  • provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
  • Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

  • move lct_cache into function local memoryfor #92
  • Clean up range checking. Re: #92
  • Fixed chainToVector
  • release lock before possibly invoking user callbacks. Fixes #91
  • Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

  • fixing edge case where two no frame id lookups matched in getLatestCommonTime
  • Contributors: Tully Foote

0.5.8 (2015-03-17)

  • change from default argument to overload to avoid linking issue #84
  • remove useless Makefile files
  • Remove unused assignments in max/min functions
  • change _allFramesAsDot() -> _allFramesAsDot(double current_time)
  • Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

0.5.4 (2014-05-07)

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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Messages

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Recent questions tagged tf2 at answers.ros.org

Package Summary

Tags No category tags.
Version 0.6.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/geometry2.git
VCS Type git
VCS Version melodic-devel
Last Updated 2018-11-28
Dev Status MAINTAINED
Released RELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package tf2

0.6.5 (2018-11-16)

0.6.4 (2018-11-06)

  • Resolved pedantic warnings
  • fix issue #315
  • fixed nan interpoaltion issue
  • Contributors: Keller Fabian Rudolf (CC-AD/EYC3), Kuang Fangjun, Martin Ganeff

0.6.3 (2018-07-09)

  • preserve constness of const argument to avoid warnings (#307)
  • Change comment style for unused doxygen (#297)
  • Contributors: Jacob Perron, Tully Foote

0.6.2 (2018-05-02)

0.6.1 (2018-03-21)

  • Replaced deprecated console_bridge macro calls (tests)
  • Contributors: Johannes Meyer, Tully Foote

0.6.0 (2018-03-21)

  • Replaced deprecated log macro calls
  • Contributors: Tim Rakowski, Tully Foote

0.5.17 (2018-01-01)

  • Merge pull request #278 from ros/chain_as_vec_test2 Clean up results of _chainAsVector
  • Simple test to check BufferCore::_chainAsVector. Unit tests for walk and chain passing now.
  • Merge pull request #267 from at-wat/speedup-timecache-for-large-buffer Speed-up TimeCache search for large cache time.
  • Merge pull request #265 from vsherrod/interpolation_fix Corrected time output on interpolation function.
  • Add time_interval option to tf2 speed-test.
  • Merge pull request #269 from ros/frames_as_yaml allFrameAsYaml consistently outputting a dict
  • resolve https://github.com/ros/geometry/pull/153 at the source instead of needing the workaround.
  • Speed-up TimeCache search for large cache time.
  • Modified tests for correct time in interpolation to existing tests.
  • Corrected time output on interpolation function. Added unit test to check for this.
  • Contributors: Atsushi Watanabe, Miguel Prada, Tully Foote, Vallan Sherrod

0.5.16 (2017-07-14)

  • remove explicit templating to standardize on overloading. But provide backwards compatibility with deprecation.
  • Merge pull request #144 from clearpathrobotics/dead_lock_fix Solve a bug that causes a deadlock in MessageFilter
  • Resolve 2 places where the error_msg would not be propogated. Fixes #198
  • Remove generate_rand_vectors() from a number of tests. (#227)
  • fixing include directory order to support overlays (#231)
  • replaced dependencies on tf2_msgs_gencpp by exported dependencies
  • Document the lifetime of the returned reference for getFrameId getTimestamp
  • relax normalization tolerance. #196 was too strict for some use cases. (#220)
  • Solve a bug that causes a deadlock in MessageFilter
  • Contributors: Adel Fakih, Chris Lalancette, Christopher Wecht, Tully Foote, dhood

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

  • fixes #194 check for quaternion normalization before inserting into storage (#196)

    • check for quaternion normalization before inserting into storage

    * Add test to check for transform failure on invalid quaternion input

  • updating getAngleShortestPath() (#187)

  • Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175

  • Link properly to convert.h

  • Landing page for tf2 describing the conversion interface

  • Fix comment on BufferCore::MAX_GRAPH_DEPTH.

  • Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

  • add utilities to get yaw, pitch, roll and identity transform
  • provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
  • Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

  • move lct_cache into function local memoryfor #92
  • Clean up range checking. Re: #92
  • Fixed chainToVector
  • release lock before possibly invoking user callbacks. Fixes #91
  • Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

  • fixing edge case where two no frame id lookups matched in getLatestCommonTime
  • Contributors: Tully Foote

0.5.8 (2015-03-17)

  • change from default argument to overload to avoid linking issue #84
  • remove useless Makefile files
  • Remove unused assignments in max/min functions
  • change _allFramesAsDot() -> _allFramesAsDot(double current_time)
  • Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

0.5.4 (2014-05-07)

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Dependant Packages

Name Repo Deps
ar_track_alvar github-ros-perception-ar_track_alvar
geometry2 github-ros-geometry2
test_tf2 github-ros-geometry2
tf2_bullet github-ros-geometry2
tf2_eigen github-ros-geometry2
tf2_geometry_msgs github-ros-geometry2
tf2_kdl github-ros-geometry2
tf2_py github-ros-geometry2
tf2_ros github-ros-geometry2
tf2_sensor_msgs github-ros-geometry2
tf2_tools github-ros-geometry2
turtle_tf2 github-ros-geometry_tutorials
depth_image_proc github-ros-perception-image_pipeline
image_rotate github-ros-perception-image_pipeline
imu_filter_madgwick github-ccny-ros-pkg-imu_tools
laser_geometry github-ros-perception-laser_geometry
amcl github-ros-planning-navigation
base_local_planner github-ros-planning-navigation
carrot_planner github-ros-planning-navigation
costmap_2d github-ros-planning-navigation
dwa_local_planner github-ros-planning-navigation
map_server github-ros-planning-navigation
rotate_recovery github-ros-planning-navigation
robot_localization github-cra-ros-pkg-robot_localization
moveit_kinematics github-ros-planning-moveit
moveit_ros_move_group github-ros-planning-moveit
moveit_ros_perception github-ros-planning-moveit
moveit_ros_planning github-ros-planning-moveit
moveit_ros_planning_interface github-ros-planning-moveit
moveit_ros_robot_interaction github-ros-planning-moveit
mrpt_graphslam_2d github-mrpt-ros-pkg-mrpt_slam
pointcloud_to_laserscan github-ros-perception-pointcloud_to_laserscan
rqt_tf_tree github-ros-visualization-rqt_tf_tree
teb_local_planner github-rst-tu-dortmund-teb_local_planner
cartographer_ros github-googlecartographer-cartographer_ros
mcl_3dl github-at-wat-mcl_3dl
mbf_simple_nav github-magazino-move_base_flex
mbf_utility github-magazino-move_base_flex
sbpl_lattice_planner github-ros-planning-navigation_experimental
rc_cloud_accumulator github-roboception-rc_cloud_accumulator
force_torque_sensor github-KITrobotics-force_torque_sensor
pilz_trajectory_generation github-PilzDE-pilz_industrial_motion
spatio_temporal_voxel_layer github-SteveMacenski-spatio_temporal_voxel_layer
urdf_geometry_parser github-ros-controls-urdf_geometry_parser
xiaoqiang_depth_image_proc github-bluewhalerobot-xiaoqiang

Launch files

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Messages

No message files found.

Services

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Plugins

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Recent questions tagged tf2 at answers.ros.org

Package Summary

Tags No category tags.
Version 0.5.20
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/geometry2.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-11-16
Dev Status MAINTAINED
Released RELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package tf2

0.5.20 (2018-11-16)

0.5.19 (2018-11-06)

  • fix issue #315
  • fixed nan interpoaltion issue
  • Contributors: Keller Fabian Rudolf (CC-AD/EYC3), Kuang Fangjun

0.5.18 (2018-07-10)

  • preserve constness of const argument to avoid warnings (#307)
  • Change comment style for unused doxygen (#297)
  • Contributors: Jacob Perron, Tully Foote

0.5.17 (2018-01-01)

  • Merge pull request #278 from ros/chain_as_vec_test2 Clean up results of _chainAsVector
  • Simple test to check BufferCore::_chainAsVector. Unit tests for walk and chain passing now.
  • Merge pull request #267 from at-wat/speedup-timecache-for-large-buffer Speed-up TimeCache search for large cache time.
  • Merge pull request #265 from vsherrod/interpolation_fix Corrected time output on interpolation function.
  • Add time_interval option to tf2 speed-test.
  • Merge pull request #269 from ros/frames_as_yaml allFrameAsYaml consistently outputting a dict
  • resolve https://github.com/ros/geometry/pull/153 at the source instead of needing the workaround.
  • Speed-up TimeCache search for large cache time.
  • Modified tests for correct time in interpolation to existing tests.
  • Corrected time output on interpolation function. Added unit test to check for this.
  • Contributors: Atsushi Watanabe, Miguel Prada, Tully Foote, Vallan Sherrod

0.5.16 (2017-07-14)

  • remove explicit templating to standardize on overloading. But provide backwards compatibility with deprecation.
  • Merge pull request #144 from clearpathrobotics/dead_lock_fix Solve a bug that causes a deadlock in MessageFilter
  • Resolve 2 places where the error_msg would not be propogated. Fixes #198
  • Remove generate_rand_vectors() from a number of tests. (#227)
  • fixing include directory order to support overlays (#231)
  • replaced dependencies on tf2_msgs_gencpp by exported dependencies
  • Document the lifetime of the returned reference for getFrameId getTimestamp
  • relax normalization tolerance. #196 was too strict for some use cases. (#220)
  • Solve a bug that causes a deadlock in MessageFilter
  • Contributors: Adel Fakih, Chris Lalancette, Christopher Wecht, Tully Foote, dhood

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

  • fixes #194 check for quaternion normalization before inserting into storage (#196)

    • check for quaternion normalization before inserting into storage

    * Add test to check for transform failure on invalid quaternion input

  • updating getAngleShortestPath() (#187)

  • Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175

  • Link properly to convert.h

  • Landing page for tf2 describing the conversion interface

  • Fix comment on BufferCore::MAX_GRAPH_DEPTH.

  • Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

  • add utilities to get yaw, pitch, roll and identity transform
  • provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
  • Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

  • move lct_cache into function local memoryfor #92
  • Clean up range checking. Re: #92
  • Fixed chainToVector
  • release lock before possibly invoking user callbacks. Fixes #91
  • Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

  • fixing edge case where two no frame id lookups matched in getLatestCommonTime
  • Contributors: Tully Foote

0.5.8 (2015-03-17)

  • change from default argument to overload to avoid linking issue #84
  • remove useless Makefile files
  • Remove unused assignments in max/min functions
  • change _allFramesAsDot() -> _allFramesAsDot(double current_time)
  • Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

0.5.4 (2014-05-07)

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

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Recent questions tagged tf2 at answers.ros.org

Package Summary

Tags No category tags.
Version 0.5.20
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/geometry2.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-11-16
Dev Status MAINTAINED
Released RELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
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CHANGELOG

Changelog for package tf2

0.5.20 (2018-11-16)

0.5.19 (2018-11-06)

  • fix issue #315
  • fixed nan interpoaltion issue
  • Contributors: Keller Fabian Rudolf (CC-AD/EYC3), Kuang Fangjun

0.5.18 (2018-07-10)

  • preserve constness of const argument to avoid warnings (#307)
  • Change comment style for unused doxygen (#297)
  • Contributors: Jacob Perron, Tully Foote

0.5.17 (2018-01-01)

  • Merge pull request #278 from ros/chain_as_vec_test2 Clean up results of _chainAsVector
  • Simple test to check BufferCore::_chainAsVector. Unit tests for walk and chain passing now.
  • Merge pull request #267 from at-wat/speedup-timecache-for-large-buffer Speed-up TimeCache search for large cache time.
  • Merge pull request #265 from vsherrod/interpolation_fix Corrected time output on interpolation function.
  • Add time_interval option to tf2 speed-test.
  • Merge pull request #269 from ros/frames_as_yaml allFrameAsYaml consistently outputting a dict
  • resolve https://github.com/ros/geometry/pull/153 at the source instead of needing the workaround.
  • Speed-up TimeCache search for large cache time.
  • Modified tests for correct time in interpolation to existing tests.
  • Corrected time output on interpolation function. Added unit test to check for this.
  • Contributors: Atsushi Watanabe, Miguel Prada, Tully Foote, Vallan Sherrod

0.5.16 (2017-07-14)

  • remove explicit templating to standardize on overloading. But provide backwards compatibility with deprecation.
  • Merge pull request #144 from clearpathrobotics/dead_lock_fix Solve a bug that causes a deadlock in MessageFilter
  • Resolve 2 places where the error_msg would not be propogated. Fixes #198
  • Remove generate_rand_vectors() from a number of tests. (#227)
  • fixing include directory order to support overlays (#231)
  • replaced dependencies on tf2_msgs_gencpp by exported dependencies
  • Document the lifetime of the returned reference for getFrameId getTimestamp
  • relax normalization tolerance. #196 was too strict for some use cases. (#220)
  • Solve a bug that causes a deadlock in MessageFilter
  • Contributors: Adel Fakih, Chris Lalancette, Christopher Wecht, Tully Foote, dhood

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

  • fixes #194 check for quaternion normalization before inserting into storage (#196)

    • check for quaternion normalization before inserting into storage

    * Add test to check for transform failure on invalid quaternion input

  • updating getAngleShortestPath() (#187)

  • Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175

  • Link properly to convert.h

  • Landing page for tf2 describing the conversion interface

  • Fix comment on BufferCore::MAX_GRAPH_DEPTH.

  • Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

  • add utilities to get yaw, pitch, roll and identity transform
  • provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
  • Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

  • move lct_cache into function local memoryfor #92
  • Clean up range checking. Re: #92
  • Fixed chainToVector
  • release lock before possibly invoking user callbacks. Fixes #91
  • Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

  • fixing edge case where two no frame id lookups matched in getLatestCommonTime
  • Contributors: Tully Foote

0.5.8 (2015-03-17)

  • change from default argument to overload to avoid linking issue #84
  • remove useless Makefile files
  • Remove unused assignments in max/min functions
  • change _allFramesAsDot() -> _allFramesAsDot(double current_time)
  • Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

0.5.4 (2014-05-07)

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Dependant Packages

Name Repo Deps
ar_track_alvar github-sniekum-ar_track_alvar
ar_track_alvar github-ros-perception-ar_track_alvar
geometry2 github-ros-geometry2
test_tf2 github-ros-geometry2
tf2_bullet github-ros-geometry2
tf2_eigen github-ros-geometry2
tf2_geometry_msgs github-ros-geometry2
tf2_kdl github-ros-geometry2
tf2_py github-ros-geometry2
tf2_ros github-ros-geometry2
tf2_sensor_msgs github-ros-geometry2
tf2_tools github-ros-geometry2
turtle_tf2 github-ros-geometry_tutorials
hector_gps_calibration github-tu-darmstadt-ros-pkg-hector_navigation
hector_quadrotor_actions github-tu-darmstadt-ros-pkg-hector_quadrotor
hector_quadrotor_interface github-tu-darmstadt-ros-pkg-hector_quadrotor
depth_image_proc github-ros-perception-image_pipeline
image_rotate github-ros-perception-image_pipeline
imu_transformer github-ros-perception-imu_pipeline
imu_filter_madgwick github-ccny-ros-pkg-imu_tools
jsk_footstep_controller github-jsk-ros-pkg-jsk_control
checkerboard_detector github-jsk-ros-pkg-jsk_recognition
laser_geometry github-ros-perception-laser_geometry
map_server github-ros-planning-navigation
rail_segmentation github-WPI-RAIL-rail_segmentation
rail_segmentation github-GT-RAIL-rail_segmentation
robot_localization github-cra-ros-pkg-robot_localization
bebop_driver github-AutonomyLab-bebop_autonomy
geonav_transform github-bsb808-geonav_transform
mrpt_graphslam_2d github-mrpt-ros-pkg-mrpt_slam
pointcloud_to_laserscan github-ros-perception-pointcloud_to_laserscan
rcll_refbox_peer github-timn-ros-rcll_refbox_peer
rqt_tf_tree github-ros-visualization-rqt_tf_tree
tf_keyboard_cal github-davetcoleman-tf_keyboard_cal
cartographer_ros github-googlecartographer-cartographer_ros
ati_force_torque github-iirob-ati_force_torque
ati_force_torque github-KITrobotics-ati_force_torque
cob_base_controller_utils github-ipa320-cob_control
cob_omni_drive_controller github-ipa320-cob_control
aruco_detect github-UbiquityRobotics-fiducials
fiducial_slam github-UbiquityRobotics-fiducials
mcl_3dl github-at-wat-mcl_3dl
mbf_simple_nav github-magazino-move_base_flex
mbf_utility github-magazino-move_base_flex
sbpl_lattice_planner github-ros-planning-navigation_experimental
map_organizer github-at-wat-neonavigation
planner_cspace github-at-wat-neonavigation
track_odometry github-at-wat-neonavigation
trajectory_tracker github-at-wat-neonavigation
openrave_robot_filter github-jsk-ros-pkg-openrave_planning
rb1_base_localization github-RobotnikAutomation-rb1_base_common
rc_cloud_accumulator github-roboception-rc_cloud_accumulator
summit_xl_localization github-RobotnikAutomation-summit_xl_common
cog_publisher github-OUXT-Polaris-cog_publisher
dnn_detect github-UbiquityRobotics-dnn_detect
force_torque_sensor github-KITrobotics-force_torque_sensor
move_basic github-UbiquityRobotics-move_basic
pilz_trajectory_generation github-PilzDE-pilz_industrial_motion
urdf_geometry_parser github-ros-controls-urdf_geometry_parser
uuv_gazebo_ros_plugins github-uuvsimulator-uuv_simulator
uuv_sensor_ros_plugins github-uuvsimulator-uuv_simulator
xiaoqiang_depth_image_proc github-bluewhalerobot-xiaoqiang

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tf2 at answers.ros.org

Package Summary

Tags No category tags.
Version 0.5.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/geometry2.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-04-13
Dev Status MAINTAINED
Released UNRELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package tf2

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

  • fixes #194 check for quaternion normalization before inserting into storage (#196)

    • check for quaternion normalization before inserting into storage

    * Add test to check for transform failure on invalid quaternion input

  • updating getAngleShortestPath() (#187)

  • Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175

  • Link properly to convert.h

  • Landing page for tf2 describing the conversion interface

  • Fix comment on BufferCore::MAX_GRAPH_DEPTH.

  • Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

  • add utilities to get yaw, pitch, roll and identity transform
  • provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
  • Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

  • move lct_cache into function local memoryfor #92
  • Clean up range checking. Re: #92
  • Fixed chainToVector
  • release lock before possibly invoking user callbacks. Fixes #91
  • Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

  • fixing edge case where two no frame id lookups matched in getLatestCommonTime
  • Contributors: Tully Foote

0.5.8 (2015-03-17)

  • change from default argument to overload to avoid linking issue #84
  • remove useless Makefile files
  • Remove unused assignments in max/min functions
  • change _allFramesAsDot() -> _allFramesAsDot(double current_time)
  • Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

0.5.4 (2014-05-07)

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Dependant Packages

Name Repo Deps
ar_track_alvar github-sniekum-ar_track_alvar
ar_track_alvar github-ros-perception-ar_track_alvar
ethzasl_icp_mapper github-ethz-asl-ethzasl_icp_mapping
geometry2 github-ros-geometry2
geometry2 github-ros2-geometry2
test_tf2 github-ros-geometry2
test_tf2 github-ros2-geometry2
tf2_bullet github-ros-geometry2
tf2_bullet github-ros2-geometry2
tf2_eigen github-ros-geometry2
tf2_eigen github-ros2-geometry2
tf2_geometry_msgs github-ros-geometry2
tf2_geometry_msgs github-ros2-geometry2
tf2_kdl github-ros-geometry2
tf2_kdl github-ros2-geometry2
tf2_py github-ros-geometry2
tf2_py github-ros2-geometry2
tf2_ros github-ros-geometry2
tf2_ros github-ros2-geometry2
tf2_sensor_msgs github-ros-geometry2
tf2_sensor_msgs github-ros2-geometry2
tf2_tools github-ros-geometry2
tf2_tools github-ros2-geometry2
turtle_tf2 github-ros-geometry_tutorials
hector_gps_calibration github-tu-darmstadt-ros-pkg-hector_navigation
depth_image_proc github-ros-perception-image_pipeline
image_rotate github-ros-perception-image_pipeline
imu_transformer github-ros-perception-imu_pipeline
imu_filter_madgwick github-ccny-ros-pkg-imu_tools
jsk_footstep_controller github-jsk-ros-pkg-jsk_control
checkerboard_detector github-jsk-ros-pkg-jsk_recognition
laser_geometry github-ros-perception-laser_geometry
rail_segmentation github-GT-RAIL-rail_segmentation
robot_localization github-cra-ros-pkg-robot_localization
bebop_driver github-AutonomyLab-bebop_autonomy
geonav_transform github-bsb808-geonav_transform
microstrain_3dm_gx5_45 github-bsb808-microstrain_3dm_gx5_45
mrpt_graphslam_2d github-mrpt-ros-pkg-mrpt_slam
pointcloud_to_laserscan github-ros-perception-pointcloud_to_laserscan
graspdb github-GT-RAIL-rail_pick_and_place
rail_recognition github-GT-RAIL-rail_pick_and_place
rcll_refbox_peer github-timn-ros-rcll_refbox_peer
rqt_tf_tree github-ros-visualization-rqt_tf_tree
world_item_observer github-GT-RAIL-spatial_temporal_learning
worldlib github-GT-RAIL-spatial_temporal_learning
tf_keyboard_cal github-davetcoleman-tf_keyboard_cal
cartographer_ros github-googlecartographer-cartographer_ros
ati_force_torque github-iirob-ati_force_torque
cob_omni_drive_controller github-ipa320-cob_control
fiducial_detect github-UbiquityRobotics-fiducials
interactive_world_parser github-GT-RAIL-interactive_world
interactive_world_tools github-GT-RAIL-interactive_world
spatial_world_model github-GT-RAIL-interactive_world
jsk_apc2016_common github-start-jsk-jsk_apc
mcl_3dl github-at-wat-mcl_3dl
mbf_simple_nav github-magazino-move_base_flex
mbf_utility github-magazino-move_base_flex
sbpl_lattice_planner github-ros-planning-navigation_experimental
map_organizer github-at-wat-neonavigation
planner_cspace github-at-wat-neonavigation
track_odometry github-at-wat-neonavigation
trajectory_tracker github-at-wat-neonavigation
openrave_robot_filter github-jsk-ros-pkg-openrave_planning
rb1_base_localization github-RobotnikAutomation-rb1_base_common
rc_cloud_accumulator github-roboception-rc_cloud_accumulator
summit_xl_localization github-RobotnikAutomation-summit_xl_common

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tf2 at answers.ros.org

Package Summary

Tags No category tags.
Version 0.8.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/geometry2.git
VCS Type git
VCS Version ardent
Last Updated 2017-12-09
Dev Status MAINTAINED
Released RELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package tf2

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

  • fixes #194 check for quaternion normalization before inserting into storage (#196)

    • check for quaternion normalization before inserting into storage

    * Add test to check for transform failure on invalid quaternion input

  • updating getAngleShortestPath() (#187)

  • Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175

  • Link properly to convert.h

  • Landing page for tf2 describing the conversion interface

  • Fix comment on BufferCore::MAX_GRAPH_DEPTH.

  • Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

  • add utilities to get yaw, pitch, roll and identity transform
  • provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
  • Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

  • move lct_cache into function local memoryfor #92
  • Clean up range checking. Re: #92
  • Fixed chainToVector
  • release lock before possibly invoking user callbacks. Fixes #91
  • Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

  • fixing edge case where two no frame id lookups matched in getLatestCommonTime
  • Contributors: Tully Foote

0.5.8 (2015-03-17)

  • change from default argument to overload to avoid linking issue #84
  • remove useless Makefile files
  • Remove unused assignments in max/min functions
  • change _allFramesAsDot() -> _allFramesAsDot(double current_time)
  • Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

0.5.4 (2014-05-07)

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

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Recent questions tagged tf2 at answers.ros.org

Package Summary

Tags No category tags.
Version 0.5.20
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/geometry2.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-11-16
Dev Status MAINTAINED
Released RELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
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CHANGELOG

Changelog for package tf2

0.5.20 (2018-11-16)

0.5.19 (2018-11-06)

  • fix issue #315
  • fixed nan interpoaltion issue
  • Contributors: Keller Fabian Rudolf (CC-AD/EYC3), Kuang Fangjun

0.5.18 (2018-07-10)

  • preserve constness of const argument to avoid warnings (#307)
  • Change comment style for unused doxygen (#297)
  • Contributors: Jacob Perron, Tully Foote

0.5.17 (2018-01-01)

  • Merge pull request #278 from ros/chain_as_vec_test2 Clean up results of _chainAsVector
  • Simple test to check BufferCore::_chainAsVector. Unit tests for walk and chain passing now.
  • Merge pull request #267 from at-wat/speedup-timecache-for-large-buffer Speed-up TimeCache search for large cache time.
  • Merge pull request #265 from vsherrod/interpolation_fix Corrected time output on interpolation function.
  • Add time_interval option to tf2 speed-test.
  • Merge pull request #269 from ros/frames_as_yaml allFrameAsYaml consistently outputting a dict
  • resolve https://github.com/ros/geometry/pull/153 at the source instead of needing the workaround.
  • Speed-up TimeCache search for large cache time.
  • Modified tests for correct time in interpolation to existing tests.
  • Corrected time output on interpolation function. Added unit test to check for this.
  • Contributors: Atsushi Watanabe, Miguel Prada, Tully Foote, Vallan Sherrod

0.5.16 (2017-07-14)

  • remove explicit templating to standardize on overloading. But provide backwards compatibility with deprecation.
  • Merge pull request #144 from clearpathrobotics/dead_lock_fix Solve a bug that causes a deadlock in MessageFilter
  • Resolve 2 places where the error_msg would not be propogated. Fixes #198
  • Remove generate_rand_vectors() from a number of tests. (#227)
  • fixing include directory order to support overlays (#231)
  • replaced dependencies on tf2_msgs_gencpp by exported dependencies
  • Document the lifetime of the returned reference for getFrameId getTimestamp
  • relax normalization tolerance. #196 was too strict for some use cases. (#220)
  • Solve a bug that causes a deadlock in MessageFilter
  • Contributors: Adel Fakih, Chris Lalancette, Christopher Wecht, Tully Foote, dhood

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

  • fixes #194 check for quaternion normalization before inserting into storage (#196)

    • check for quaternion normalization before inserting into storage

    * Add test to check for transform failure on invalid quaternion input

  • updating getAngleShortestPath() (#187)

  • Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175

  • Link properly to convert.h

  • Landing page for tf2 describing the conversion interface

  • Fix comment on BufferCore::MAX_GRAPH_DEPTH.

  • Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

  • add utilities to get yaw, pitch, roll and identity transform
  • provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
  • Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

  • move lct_cache into function local memoryfor #92
  • Clean up range checking. Re: #92
  • Fixed chainToVector
  • release lock before possibly invoking user callbacks. Fixes #91
  • Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

  • fixing edge case where two no frame id lookups matched in getLatestCommonTime
  • Contributors: Tully Foote

0.5.8 (2015-03-17)

  • change from default argument to overload to avoid linking issue #84
  • remove useless Makefile files
  • Remove unused assignments in max/min functions
  • change _allFramesAsDot() -> _allFramesAsDot(double current_time)
  • Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

0.5.4 (2014-05-07)

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

System Dependencies

Dependant Packages

Name Repo Deps
ar_track_alvar github-ros-perception-ar_track_alvar
geometry2 github-ros-geometry2
test_tf2 github-ros-geometry2
tf2_bullet github-ros-geometry2
tf2_eigen github-ros-geometry2
tf2_geometry_msgs github-ros-geometry2
tf2_kdl github-ros-geometry2
tf2_py github-ros-geometry2
tf2_ros github-ros-geometry2
tf2_sensor_msgs github-ros-geometry2
tf2_tools github-ros-geometry2
turtle_tf2 github-ros-geometry_tutorials
hector_gps_calibration github-tu-darmstadt-ros-pkg-hector_navigation
depth_image_proc github-ros-perception-image_pipeline
image_rotate github-ros-perception-image_pipeline
imu_transformer github-ros-perception-imu_pipeline
imu_filter_madgwick github-ccny-ros-pkg-imu_tools
jsk_footstep_controller github-jsk-ros-pkg-jsk_control
checkerboard_detector github-jsk-ros-pkg-jsk_recognition
laser_geometry github-ros-perception-laser_geometry
rail_segmentation github-GT-RAIL-rail_segmentation
robot_localization github-cra-ros-pkg-robot_localization
bebop_driver github-AutonomyLab-bebop_autonomy
geonav_transform github-bsb808-geonav_transform
microstrain_3dm_gx5_45 github-bsb808-microstrain_3dm_gx5_45
mrpt_graphslam_2d github-mrpt-ros-pkg-mrpt_slam
pointcloud_to_laserscan github-ros-perception-pointcloud_to_laserscan
graspdb github-GT-RAIL-rail_pick_and_place
rail_recognition github-GT-RAIL-rail_pick_and_place
rcll_refbox_peer github-timn-ros-rcll_refbox_peer
rqt_tf_tree github-ros-visualization-rqt_tf_tree
world_item_observer github-GT-RAIL-spatial_temporal_learning
worldlib github-GT-RAIL-spatial_temporal_learning
tf_keyboard_cal github-davetcoleman-tf_keyboard_cal

Launch files

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Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged tf2 at answers.ros.org

Package Summary

Tags No category tags.
Version 0.4.12
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/geometry2.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-12-16
Dev Status MAINTAINED
Released UNRELEASED

Package Description

tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

Additional Links

Maintainers

  • Tully Foote

Authors

  • Tully Foote
  • Eitan Marder-Eppstein
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package tf2

0.4.12 (2014-09-18)

0.4.11 (2014-06-04)

  • Fix format string
  • Contributors: Austin

0.4.10 (2013-12-26)

  • updated error message. fixes #38
  • tf2: add missing console bridge include directories (fix #48)
  • Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
  • Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

  • moving python documentation to tf2_ros from tf2 to follow the code
  • removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

  • switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
  • Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

  • cleaner fix for #19
  • fix pointer initialization. Fixes #19
  • fixes #18 for hydro
  • package.xml: corrected typo in description

0.4.5 (2013-07-11)

0.4.4 (2013-07-09)

  • making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
  • tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
  • tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
  • tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

  • adding getCacheLength() to parallel old tf API
  • removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

  • adding old style callback notifications to BufferCore to enable backwards compatability of message filters
  • exposing dedicated thread logic in BufferCore and checking in Buffer
  • more methods to expose, and check for empty cache before getting latest timestamp
  • adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

  • splitting rospy dependency into tf2_py so tf2 is pure c++ library.
  • switching to console_bridge from rosconsole
  • moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
  • Cleaning up unnecessary dependency on roscpp
  • Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
  • suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
  • Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
  • fixing includes in unit tests
  • Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

  • 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

  • 0.3.3 -> 0.3.4
  • moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

  • 0.3.2 -> 0.3.3
  • fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

  • 0.3.1 -> 0.3.2
  • fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

  • 0.3.0 -> 0.3.1
  • fixing PYTHON installation directory

0.3.0 (2013-02-13)

  • switching to version 0.3.0
  • adding setup.py to tf2 package
  • fixed tf2 exposing python functionality
  • removed line that was killing tf2_ros.so
  • fixing catkin message dependencies
  • removing packages with missing deps
  • adding missing package.xml
  • adding missing package.xml
  • adding missing package.xml
  • catkinizing geometry-experimental
  • removing bullet headers from use in header files
  • removing bullet headers from use in header files
  • merging my recent changes
  • setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
  • allFramesAsString public and internal methods seperated. Public method is locked, private method is not
  • fixing another scoped lock
  • fixing one scoped lock
  • fixing test compilation
  • merge
  • Error message fix, ros-pkg5085
  • Check if target equals to source before validation
  • When target_frame == source_frame, just returns an identity transform.
  • adding addition ros header includes for strictness
  • Fixed optimized lookups with compound transforms
  • Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
  • fix compilation on 32-bit
  • Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
  • Josh change: fix first/last time case. 46bf33868e0d
  • fix transform accumulation to parent
  • fix parent lookup, now works on the real pr2's tree
  • move the message filter to tf2_ros
  • tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
  • Don't add the request if the transform is already available. Add some new tests
  • working transformable callbacks with a simple (incomplete) test case
  • first pass at a transformable callback api, not tested yet
  • add interpolation cases
  • fix getLatestCommonTime -- no longer returns the latest of any of the times
  • Some more optimization -- allow findClosest to inline
  • another minor speedup
  • Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
  • Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
  • minor cleanup
  • add 3 more cases to the speed test
  • Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
  • Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
  • Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
  • Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
  • remove id lookup that wasn't doing anything
  • Some more optimization:

    • Reduce # of TransformStorage copies made in TimeCache::getData()

    * Remove use of lookupLists from getLatestCommonTime

  • lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists

  • Remove CompactFrameID in favor of a typedef

  • these mode checks are no longer necessary

  • Fix crash when testing extrapolation on the forward transforms

  • Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.

  • remove exposure of time_cache.h from buffer_core.h

  • Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems

  • Optimize test_extrapolation a bit, 25% speedup of lookupTransform

  • use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%

  • Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%

  • speed up lookupTransform by another 25%

  • speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly

  • sped up lookupTransform by another 2x

  • First add of a simple speed test Sped up lookupTransform 2x

  • roscpp dependency explicit, instead of relying on implicit

  • static transform tested and working

  • tests passing and all throw catches removed too!

  • validating frame_ids up front for lookup exceptions

  • working with single base class vector

  • tests passing for static storage

  • making method private for clarity

  • static cache implementation and test

  • cleaning up API doc typos

  • sphinx docs for Buffer

  • new dox mainpage

  • update tf2 manifest

  • commenting out twist

  • Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work

  • no more rand in cache tests

  • Changing tf2_py.cpp to use underscores instead of camelCase

  • removing all old converter functions from transform_datatypes.h

  • removing last references to transform_datatypes.h in tf2

  • transform conversions internalized

  • removing unused datatypes

  • copying bullet transform headers into tf2 and breaking bullet dependency

  • merge

  • removing dependency on tf

  • removing include of old tf from tf2

  • update doc

  • merge

  • kdl unittest passing

  • Spaces instead of tabs in YAML grrrr

  • Adding quotes for parent

  • canTransform advanced ported

  • Hopefully fixing YAML syntax

  • new version of view_frames in new tf2_tools package

  • testing new argument validation and catching bug

  • Python support for debugging

  • merge

  • adding validation of frame_ids in queries with warnings and exceptions where appropriate

  • Exposing ability to get frames as a string

  • A compiling version of YAML debugging interface for BufferCore

  • placeholder for tf debug

  • fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily

  • Adding a python version of the BufferClient

  • moving test to new package

  • merging

  • working unit test for BufferCore::lookupTransform

  • removing unused method test and converting NO_PARENT test to new API

  • Adding some comments

  • Moving the python bindings for tf2 to the tf2 package from the tf2_py package

  • buffercore tests upgraded

  • porting tf_unittest while running incrmentally instead of block copy

  • BufferCore::clear ported forward

  • successfully changed lookupTransform advanced to new version

  • switching to new implementation of lookupTransform tests still passing

  • compiling lookupTransform new version

  • removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.

  • initializing tf_prefix

  • adding missing initialization

  • suppressing warnings

  • more tests ported

  • removing tests for apis not ported forward

  • setTransform tests ported

  • old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)

  • setTransform working in new framework as well as old

  • porting more methods

  • more compatability

  • bringing in helper functions for buffer_core from tf.h/cpp

  • rethrowing to new exceptions

  • converting Storage to geometry_msgs::TransformStamped

  • removing deprecated useage

  • cleaning up includes

  • moving all implementations into cpp file

  • switching test to new class from old one

  • Compiling version of the buffer client

  • moving listener to tf_cpp

  • removing listener, it should be in another package

  • most of listener

  • add cantransform implementation

  • removing deprecated API usage

  • initial import of listener header

  • move implementation into library

  • 2 tests of buffer

  • moving executables back into bin

  • compiling again with new design

  • rename tfcore to buffercore

  • almost compiling version of template code

  • compiling tf2_core simple test

  • add test to start compiling

  • copying in tf_unittest for tf_core testing template

  • prototype of tf2_core implemented using old tf.

  • first version of template functions

  • remove timeouts

  • properly naming tf2_core.h from tf_core.h

  • working cache test with tf2 lib

  • first unit test passing, not yet ported

  • tf_core api

  • tf2 v2

  • aborting port

  • moving across time cache tf and datatypes headers

  • copying exceptions from tf

  • switching to tf2 from tf_core

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tf2 at answers.ros.org